相关论文: DeepTAM: Deep Tracking and Mapping

Precise 6D pose estimation of rigid objects from RGB images is a critical but challenging task in robotics, augmented reality and human-computer interaction. To address this problem, we propose DeepRM, a novel recurrent network architecture…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

In this article, we propose a new keyframe-based mapping system. The proposed method updates local Normal Distribution Transform maps (NDT) using data from an RGB-D sensor. The cells of the NDT are stored in 2D view-dependent structures to…

An algorithm for pose and motion estimation using corresponding features in omnidirectional images and a digital terrain map is proposed. In previous paper, such algorithm for regular camera was considered. Using a Digital Terrain (or…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…

Estimating the 6D pose of objects from images is an important problem in various applications such as robot manipulation and virtual reality. While direct regression of images to object poses has limited accuracy, matching rendered images…

Camera localization aims to estimate 6 DoF camera poses from RGB images. Traditional methods detect and match interest points between a query image and a pre-built 3D model. Recent learning-based approaches encode scene structures into a…

Estimating relative camera poses from consecutive frames is a fundamental problem in visual odometry (VO) and simultaneous localization and mapping (SLAM), where classic methods consisting of hand-crafted features and sampling-based outlier…

We present an algorithm for estimating consistent dense depth maps and camera poses from a monocular video. We integrate a learning-based depth prior, in the form of a convolutional neural network trained for single-image depth estimation,…

This paper proposes a robust localization system that employs deep learning for better scene representation, and enhances the accuracy of 6-DOF camera pose estimation. Inspired by the fact that global scene structure can be revealed by wide…

The accurate tracking of live cells using video microscopy recordings remains a challenging task for popular state-of-the-art image processing based object tracking methods. In recent years, several existing and new applications have…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…

In this paper, we present TANDEM a real-time monocular tracking and dense mapping framework. For pose estimation, TANDEM performs photometric bundle adjustment based on a sliding window of keyframes. To increase the robustness, we propose a…

We introduce GoTrack, an efficient and accurate CAD-based method for 6DoF object pose refinement and tracking, which can handle diverse objects without any object-specific training. Unlike existing tracking methods that rely solely on an…

Keypoint detection and tracking in traditional image frames are often compromised by image quality issues such as motion blur and extreme lighting conditions. Event cameras offer potential solutions to these challenges by virtue of their…

This paper presents a robust approach for a visual parallel tracking and mapping (PTAM) system that excels in challenging environments. Our proposed method combines the strengths of heterogeneous multi-modal visual sensors, including stereo…

We propose a single-stage, category-level 6-DoF pose estimation algorithm that simultaneously detects and tracks instances of objects within a known category. Our method takes as input the previous and current frame from a monocular RGB…

We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…

We present a method to combine markerless motion capture and dense pose feature estimation into a single framework. We demonstrate that dense pose information can help for multiview/single-view motion capture, and multiview motion capture…